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#ifndef E323ASTAR_H
#define E323ASTAR_H
#include <queue>
#include <vector>
#include <list>
#include <cstddef> // for NULL
class AAStar {
public:
class ANode {
public:
ANode()
: open(false)
, closed(false)
, id(0)
, g(0.0f)
, h(0.0f)
, w(0.0f)
, parent(NULL)
{
}
ANode(unsigned int id, float w)
: open(false)
, closed(false)
, id(id)
, g(0.0f)
, h(0.0f)
, w(w)
, parent(NULL)
{
}
virtual ~ANode() {}
bool open;
bool closed;
unsigned int id;
float g;
float h;
float w;
ANode* parent;
bool operator < (const ANode* n) const {
return (g+h) > (n->g+n->h);
}
bool operator () (const ANode* a, const ANode* b) const {
return (a->g+a->h) > (b->g+b->h);
}
bool operator == (const ANode* n) const {
return (id == n->id);
}
bool operator != (const ANode* n) const {
return !(this == n);
}
void reset() {
this->g = 0.0f;
this->h = 0.0f;
this->open = false;
this->closed = false;
}
};
bool findPath(std::list<ANode*> *path = NULL);
protected:
void init();
virtual ~AAStar() {};
virtual void successors(ANode *n, std::queue<ANode*> &succ) = 0;
virtual float heuristic(ANode *n1, ANode *n2) = 0;
ANode *start, *goal;
unsigned int visited;
private:
/* priority queue of the open list */
std::priority_queue<ANode*, std::vector<ANode*, std::allocator<ANode*> >, ANode> open;
/* successors stack */
std::queue<ANode*> succs;
/* traces the path from the goal node through its parents */
void tracePath(ANode *x, std::list<ANode*> &path);
};
#endif
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